CN110432867B - Integrative capsule scope is diagnose to photodynamic - Google Patents
Integrative capsule scope is diagnose to photodynamic Download PDFInfo
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- CN110432867B CN110432867B CN201910739212.4A CN201910739212A CN110432867B CN 110432867 B CN110432867 B CN 110432867B CN 201910739212 A CN201910739212 A CN 201910739212A CN 110432867 B CN110432867 B CN 110432867B
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00163—Optical arrangements
- A61B1/00174—Optical arrangements characterised by the viewing angles
- A61B1/00179—Optical arrangements characterised by the viewing angles for off-axis viewing
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00163—Optical arrangements
- A61B1/00174—Optical arrangements characterised by the viewing angles
- A61B1/00183—Optical arrangements characterised by the viewing angles for variable viewing angles
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
- A61B1/0615—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements for radial illumination
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
- A61B1/0623—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements for off-axis illumination
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0071—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence by measuring fluorescence emission
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/0059—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence
- A61B5/0082—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes
- A61B5/0084—Measuring for diagnostic purposes; Identification of persons using light, e.g. diagnosis by transillumination, diascopy, fluorescence adapted for particular medical purposes for introduction into the body, e.g. by catheters
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/06—Radiation therapy using light
- A61N5/0613—Apparatus adapted for a specific treatment
- A61N5/062—Photodynamic therapy, i.e. excitation of an agent
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/06—Radiation therapy using light
- A61N5/0601—Apparatus for use inside the body
- A61N5/0603—Apparatus for use inside the body for treatment of body cavities
- A61N2005/0608—Rectum
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/06—Radiation therapy using light
- A61N5/0601—Apparatus for use inside the body
- A61N5/0603—Apparatus for use inside the body for treatment of body cavities
- A61N2005/0609—Stomach and/or esophagus
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/06—Radiation therapy using light
- A61N2005/063—Radiation therapy using light comprising light transmitting means, e.g. optical fibres
Abstract
The invention discloses a photodynamic diagnosis and treatment integrated capsule endoscope, which comprises: the first shell, the second light-transmitting shell and the flexible shell are sequentially connected to form an accommodating space; the first lighting unit is arranged outside the accommodating space, is connected between the first shell and the second light-transmitting shell and is used for emitting light; the battery is fixedly arranged in the accommodating space; the image system is arranged in the accommodating space, is connected with the flexible shell and is used for acquiring images inside the alimentary canal of the detected person; the telescopic device is respectively connected with the image system and the battery and drives the image system to move in the telescopic process so as to drive the flexible shell to stretch; and the control system is connected with the battery and is used for respectively controlling the electrifying state of the telescopic device, the image system to collect images and the first lighting unit to emit light. The invention not only increases the illumination area, but also can realize illumination at different angles, and improves the optical density, thereby improving the detection precision.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a photodynamic diagnosis and treatment integrated capsule endoscope.
Background
According to the statistics of the world health organization, the incidence rates of the three most major digestive tract cancers of gastric cancer, colorectal cancer and esophageal cancer are on the rise. Digestive tract cancer belongs to mucosal lesion, the cure rate found in early stage is extremely high, and the significance of early screening is great. In the case of gastric cancer, the prognosis is directly related to the pathological stage, more than 90% of gastric cancer in the early stage can be cured, and the gastric cancer in the late stage is basically difficult to cure, so that the early diagnosis and the early treatment of gastric cancer are crucial.
Photodynamic Diagnosis (PDD) is a novel diagnostic technique that utilizes selective enrichment of photosensitizing drugs at cancer cells; then, the cancer tissue is irradiated by exciting light to enable the enriched photosensitive medicine to generate fluorescence; the location and condition of the cancer can be judged by analyzing the intensity and distribution of the fluorescence.
Photodynamic therapy (PDT) is a new method for treating tumor diseases by using the photosensitive effect, and particularly, the tumor part is irradiated by light with specific wavelength, so that photosensitive drugs selectively gathered on tumor tissues are activated, and photochemical reaction is initiated to destroy the tumor. Wherein, the photosensitive drug can transfer energy to the surrounding oxygen to generate singlet oxygen with strong activity; the singlet oxygen can generate oxidation reaction with nearby biological macromolecules to generate cytotoxicity so as to kill tumor cells; PDT has the advantage over traditional tumor therapy of being able to deliver effective treatments with precise, targeted delivery and less side effects.
PDD and PDT can be used for accurately treating tumors by combining photodynamic diagnosis and photodynamic therapy, and PDT is performed under the indication of PDD Photosensitizer (PS) fluorescence, so that the tumors are sufficiently treated, and the damage to surrounding normal tissues is minimized; meanwhile, after treatment is finished, PDD can be carried out to judge the treatment effect, and secondary PDT treatment is carried out if necessary; the photodynamic diagnosis and treatment integrated technology is the development direction of accurate targeted tumor therapy.
The existing photodynamic diagnosis is mostly carried out by adopting a capsule endoscope, the capsule endoscope is an image system with the size and the shape similar to those of a capsule medicine, and the capsule endoscope is a human digestive tract examination tool integrating an optical photography system, a wireless communication system and a power supply system; the capsule endoscope moves in the gastrointestinal digestive tract after being swallowed by a detected person, shoots and inspects the inner wall of the gastrointestinal digestive tract along the way, and sends images to an external terminal; a doctor can position and diagnose a focus through an image received by an external terminal; compared with the common endoscope, the capsule endoscope has less discomfort and higher patient dependence; however, the existing capsule endoscopy has single function, small irradiation area and fixed irradiation direction, can only be used for shooting white light images in the alimentary canal, the diagnosis accuracy depends on the level of doctors, and the technology is difficult to find cancer focuses at the early stage and can not directly implement PDT treatment; in addition, the existing capsule endoscope is limited by the diameter (8-10 mm), the space for arranging the LED at the end part is limited, and sufficient diagnosis light sources and treatment light sources are arranged in insufficient space.
Disclosure of Invention
The invention aims to provide a photodynamic diagnosis and treatment integrated capsule endoscope with multiple illumination angles, large illumination area and high optical density.
In order to achieve the above object, the present invention provides a photodynamic diagnosis and treatment integrated capsule endoscope, comprising:
the flexible shell is connected between the first shell and the second light-transmitting shell to form an accommodating space;
the first lighting unit is arranged outside the accommodating space, connected between the first shell and the second light-transmitting shell and used for emitting light;
the battery is fixedly arranged in the accommodating space;
the image system is arranged in the accommodating space and connected with the flexible shell, and the image system collects images inside the digestive tract of the detected person through the second light-transmitting shell;
the telescopic device is respectively fixedly connected with the image system and the battery, is used for contracting when electrified and expanding when power is off, and drives the image system to move in the process of stretching so as to drive the flexible shell to contract and expand;
and the control system is connected with the battery, the first lighting unit, the expansion piece and the image system and is used for respectively controlling the electrifying state of the expansion piece, collecting the image by the image system and emitting light by the first lighting unit.
Preferably, the image system comprises:
the end part of the substrate is connected with the flexible shell, the substrate is fixedly connected with the expansion piece, and the substrate is used for moving under the driving of the expansion piece to drive the flexible shell to contract and extend;
and the camera system is arranged on the substrate and connected with the control system, and is used for acquiring images inside the digestive tract of the detected person through the second light-transmitting shell under the control of the control system.
Preferably, the first lighting unit includes:
the first circuit board is arranged between the first shell and the second light-transmitting shell, is connected with the control system, and is folded and unfolded under the driving of the flexible shell;
and the first lighting device is welded on the first circuit board, the lighting angle is changed in the folding and extending processes of the first circuit board, and the first lighting device is used for emitting light under the control of the control system.
Preferably, the photodynamic diagnosis and treatment integrated capsule endoscope further comprises a second illumination unit, and the second illumination unit comprises:
the second circuit board is arranged on the substrate and is connected with the control system;
and the second lighting device is welded on the second circuit board and is used for emitting light under the control of the control system.
Preferably, the photodynamic diagnosis and treatment integrated capsule endoscope further comprises:
and the communication system is respectively connected with the camera system, the control system and the external terminal, and is used for sending the image to the external terminal and transmitting a control instruction sent by the external terminal to the control system.
Preferably, the second light-transmissive envelope is hemispherical in shape.
Preferably, the first housing has a hemispherical shape at one end and a cylindrical shape at the other end.
Preferably, the first circuit board is a foldable flexible circuit board.
Preferably, the retractor is an electromemory alloy.
According to the specific embodiment provided by the invention, the invention discloses the following technical effects:
the telescopic device is respectively and fixedly connected with an image system and a battery, the image system is connected with a flexible shell, and the flexible shell is connected with a first lighting unit; the telescopic device contracts under the power-on condition, drives the image system to move downwards, so as to drive the flexible shell to contract, thereby changing the angle of the first illumination unit, effectively enlarging the axial illumination area, and illuminating in a large area at multiple angles.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic front sectional view of a photodynamic diagnosis and treatment integrated capsule endoscope of the present invention when a first illumination unit is deployed;
FIG. 2 is a schematic top sectional view of a photodynamic diagnosis and treatment integrated capsule endoscope of the present invention when the first illumination unit is deployed;
FIG. 3 is a schematic front sectional view of a photodynamic diagnosis and treatment integrated capsule endoscope of the present invention when the first illumination unit is folded;
fig. 4 is a schematic top sectional view of a photodynamic diagnosis and treatment integrated capsule endoscope of the present invention when the first illumination unit is folded.
Description of the symbols: 1-a flexible shell, 2-a first lighting device, 3-a first circuit board, 4-a second lighting device, 5-a camera system, 6-a control system, 7-a second light-transmitting shell, 8-an expansion device, 9-a battery, 10-a communication system, 11-a first shell, 12-a substrate and 13-a second circuit board.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a photodynamic diagnosis and treatment integrated capsule endoscope with multiple illumination angles, large illumination area and high optical density.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1 and fig. 2, the photodynamic diagnosis and treatment integrated capsule endoscope of the present invention comprises a first housing 11, a second light-transmitting housing 7, a flexible housing 1, a first illumination unit, a battery 9, an image system, a telescopic device 8, and a control system 6.
The flexible housing 1 is connected between the first housing 11 and the second light-transmitting housing 7 to form an accommodating space.
In order to avoid damage to the internal components of the human body, the second light-transmitting envelope 7 has a hemispherical shape. Preferably, the first housing 11 has a hemispherical shape at one end and a cylindrical shape at the other end. The first housing 11 and the second light-transmitting housing 7 form a capsule shape.
The first lighting unit is arranged outside the accommodating space and connected between the first shell 11 and the second light-transmitting shell 7, and the first lighting unit is used for emitting light. The number of the first illumination units is n, and n is a natural number larger than 0. In this example, n is 12.
Specifically, the first lighting unit includes a first circuit board 3 and a first lighting device 2. The first circuit board 3 is arranged between the first shell 11 and the second light-transmitting shell 7, is connected with the control system 6, and is folded and unfolded under the driving of the flexible shell 1.
The first illuminating device 2 is welded on the first circuit board 3 and close to the second light-transmitting shell 7 side, the illuminating angle of the first circuit board 3 is changed in the folding and extending processes, and the first illuminating device 2 is used for emitting light under the control of the control system 6.
Preferably, the Flexible housing 1 is a foldable FPC (Flexible Printed Circuit).
Preferably, the first lighting device 2 may be an LED (Light Emitting Diode) lamp.
Further, the image system is arranged in the accommodating space and connected with the flexible shell 1, and the image system collects images inside the alimentary canal of the detected person through the second light-transmitting shell 7.
The expansion piece 8 is respectively fixedly connected with the image system and the battery 9, the expansion piece 8 is used for contracting when being powered on and expanding when being powered off, and drives the image system to move in the expansion process so as to drive the flexible shell to contract and expand, specifically, the expansion piece 8 contracts and drives the substrate 12 to move downwards, so that the flexible shell 1 is compressed, and the first circuit board 3 is folded, as shown in fig. 3 and 4. In this embodiment, the expansion device 8 may be an electric memory alloy.
Wherein the imaging system comprises a substrate 12 and an imaging system 5.
The end of the substrate 12 is connected to the flexible housing 1, the substrate 12 is fixedly connected to the expansion piece 8, and the substrate 12 is used for moving under the driving of the expansion piece 8 to drive the flexible housing to contract and extend.
The camera system 5 is arranged on the substrate 12, the camera system 5 is connected with the control system 6, and the camera system 5 collects images inside the digestive tract of the detected person through the second light-transmitting shell 7 under the control of the control system 6.
Preferably, in order to expand the illumination range and provide the illumination effect, the photodynamic diagnosis and treatment integrated capsule endoscope further comprises a second illumination unit fixedly arranged on the substrate 12 and used for emitting light. The number of the second illumination units is m, and m is a natural number greater than 0. In this embodiment, m is 8.
In particular, the second lighting unit comprises a second circuit board 13 and a second lighting means 4.
The second circuit board 13 is fixedly disposed on the substrate 12 and connected to the control system 6.
The second lighting device 4 is soldered on the second circuit board 13 and is used for emitting light under the control of the control system 6. Preferably, the second lighting device 4 may be an LED lamp.
Specifically, the first illumination device and the second illumination device in the first illumination unit and the second illumination unit can be used for emitting therapeutic light or diagnostic light, and are further selected according to actual needs.
Further, the photodynamic diagnosis and treatment integrated capsule endoscope further comprises a communication system 10, wherein the communication system 10 is respectively connected with the camera system 5, the control system 6 and an external terminal, and is used for sending the image to the external terminal and transmitting a control instruction transmitted by the external terminal to the control system 6.
Specifically, the control system 6 is connected to the battery 9, and is respectively connected to the expansion piece 8, the first illumination device 2, the second illumination device 4, the communication system 10, and the camera system 5, and the control system 6 is configured to respectively control: the first lighting device 2 and the second lighting device 4 emit light, the telescopic device 8 is powered on and off, the image pickup system 5 collects images of the inside of the digestive tract of the detected person through the second light-transmitting shell 7, and receives a control instruction sent by the external terminal through the communication system 10.
The photodynamic diagnosis and treatment integrated capsule endoscope expands the irradiation range of the capsule endoscope and the irradiation density through the first irradiation unit and the second irradiation unit, can realize irradiation at a certain angle, does not need to expand additional equipment, and has strong adaptability; in addition, the treatment light source and the diagnosis light source can be respectively arranged on the first illumination unit and the second illumination unit according to requirements, so that photodynamic diagnosis and treatment can be realized while sufficient light intensity is ensured.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The principles and embodiments of the present invention have been described herein using specific examples, which are presented solely to aid in the understanding of the apparatus and its core concepts; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. The utility model provides an integrative capsule scope is diagnose to photodynamic which characterized in that includes:
the flexible shell is connected between the first shell and the second light-transmitting shell to form an accommodating space;
the first lighting unit is arranged outside the accommodating space, connected between the first shell and the second light-transmitting shell and used for emitting light;
the battery is fixedly arranged in the accommodating space;
the image system is arranged in the accommodating space and connected with the flexible shell, and the image system collects images inside the digestive tract of the detected person through the second light-transmitting shell;
the telescopic device is respectively fixedly connected with the image system and the battery, is used for contracting when electrified and expanding when power is off, and drives the image system to move in the process of stretching so as to drive the flexible shell to contract and expand;
the control system is connected with the battery, the first lighting unit, the expansion piece and the image system and is used for respectively controlling the electrifying state of the expansion piece, the image system for acquiring the image and the first lighting unit for emitting light;
the first lighting unit includes:
the first circuit board is arranged between the first shell and the second light-transmitting shell, is connected with the control system, and is folded and unfolded under the driving of the flexible shell;
and the first lighting device is welded on the first circuit board, the lighting angle is changed in the folding and extending processes of the first circuit board, and the first lighting device is used for emitting light under the control of the control system.
2. The photodynamic therapy integrated capsule endoscope as claimed in claim 1, wherein the image system comprises:
the end part of the substrate is connected with the flexible shell, the substrate is fixedly connected with the expansion piece, and the substrate is used for moving under the driving of the expansion piece to drive the flexible shell to contract and extend;
and the camera system is arranged on the substrate and connected with the control system, and is used for acquiring images inside the digestive tract of the detected person through the second light-transmitting shell under the control of the control system.
3. The photodynamic therapy integrated capsule endoscope as claimed in claim 2, wherein the photodynamic therapy integrated capsule endoscope further comprises a second illumination unit, and the second illumination unit comprises:
the second circuit board is arranged on the substrate and is connected with the control system;
and the second lighting device is welded on the second circuit board and is used for emitting light under the control of the control system.
4. The photodynamic therapy integrated capsule endoscope as claimed in claim 1, wherein the photodynamic therapy integrated capsule endoscope further comprises:
and the communication system is respectively connected with the image system, the control system and the external terminal, and is used for sending the image to the external terminal and transmitting a control instruction sent by the external terminal to the control system.
5. The photodynamic therapy integrated capsule endoscope as claimed in claim 1, wherein the second light-transmitting shell has a hemispherical shape.
6. The photodynamic therapy integrated capsule endoscope as claimed in claim 1, wherein the first housing has a hemispherical shape at one end and a cylindrical shape at the other end.
7. The photodynamic therapy integrated capsule endoscope as claimed in claim 1, wherein the first circuit board is a foldable flexible circuit board.
8. The photodynamic therapy integrated capsule endoscope as claimed in claim 1, wherein the retractor is an electro-memory alloy.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910739212.4A CN110432867B (en) | 2019-08-12 | 2019-08-12 | Integrative capsule scope is diagnose to photodynamic |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910739212.4A CN110432867B (en) | 2019-08-12 | 2019-08-12 | Integrative capsule scope is diagnose to photodynamic |
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| CN110432867A CN110432867A (en) | 2019-11-12 |
| CN110432867B true CN110432867B (en) | 2021-11-02 |
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| CN111568348A (en) * | 2020-06-04 | 2020-08-25 | 中国医学科学院生物医学工程研究所 | Optical diagnosis and treatment capsule endoscope with external power supply and control |
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